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Running 2 nodes in a single docker container [community-contributed]¶
Pull the ROS docker image with tag “eloquent-desktop”.
docker pull osrf/ros:eloquent-desktop
Run the image in a container in interactive mode.
$ docker run -it osrf/ros:eloquent-desktop root@<container-id>:/#
Your best friend is the
ros2 command line help now.
root@<container-id>:/# ros2 --help
E.g. list all installed packages.
root@<container-id>:/# ros2 pkg list (you will see a list of packages)
E.g. list all executables:
root@<container-id>:/# ros2 pkg executables (you will see a list of <package> <executable>)
Run a minimal example of 2 C++ nodes (1 topic subscriber
listener, 1 topic publisher
talker) from the package
demo_nodes_cpp in this container:
ros2 run demo_nodes_cpp listener & ros2 run demo_nodes_cpp talker